//
// Copyright (c) 2009, Markus Rickert
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#ifndef RL_PLAN_RRTCONCON_H
#define RL_PLAN_RRTCONCON_H

#include "RrtDual.h"

namespace rl
{
	namespace plan
	{
		/**
		 * RRT-Connect2.
		 *
		 * James J. Kuffner, Jr. and Steven M. LaValle. RRT-connect: An efficient
		 * approach to single-query path planning. In Proceedings of the IEEE
		 * International Conference on Robotics and Automation, pages 995-1001,
		 * April 2000.
		 *
		 * http://dx.doi.org/10.1109/ROBOT.2000.844730
		 */
		class RL_PLAN_EXPORT RrtConCon : public RrtDual
		{
		public:
			RrtConCon();
			
			virtual ~RrtConCon();
			
			virtual ::std::string getName() const;
			
			bool solve();
			
		protected:
			
		private:
			
		};
	}
}

#endif // RL_PLAN_RRTCONCON_H
